title: A compliant parallel mechanism for needle intervention.
abstract: This paper presents a compliant mechanism for fine motion of a medical robot for needle intervention procedure. The concept of this mechanism is created with the purpose of correcting a needle axis by translating a main robot for needle driving when an unexpected slip happens in needle insertion. In order to specify the concept, a planar compliant mechanism is designed so that the mechanism has maximized workspace for some given design condition. A simplified mathematical model for the designed mechanism is derived and then a pose controller is designed to track a desired trajectory in a plane, which is a similar situation that the compliant mechanism translates a needle driving robot to correct the direction of a needle. The simulation result shows good tracking performance.
authors.forename: Youngjin
authors.initials: Y
authors.lastname: Moon
authors.forename: Jaesoon
authors.initials: J
authors.lastname: Choi
mesh_terms: D000465:Algorithms; D001706:Biopsy / Q000295:instrumentation* / Q000379:methods*; D003198:Computer Simulation; D004867:Equipment Design; D006801:Humans; D008168:Lung / Q000473:pathology; D008962:Models, Theoretical; D009038:Motion; D009339:Needles; D065287:Robotic Surgical Procedures / Q000379:methods*; D012371:Robotics / Q000295:instrumentation